%0 Journal Article
%T Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators
%A Hicham Chaoui
%A Wail Gueaieb
%A Mohammad Biglarbegian
%A Mustapha C. E. Yagoub
%J Robotics
%D 2013
%I MDPI AG
%R 10.3390/robotics2020066
%X In this paper, we introduce an adaptive type-2 fuzzy logic controller (FLC) for flexible-joint manipulators with structured and unstructured dynamical uncertainties. Simplified interval fuzzy sets are used for real-time efficiency, and internal stability is enhanced by adopting a trade-off strategy between the manipulator¡¯s and the actuators¡¯ velocities. Furthermore, the control scheme is independent of the computationally expensive noisy torque and acceleration signals. The controller is validated through a set of numerical simulations and by comparing it against its type-1 counterpart. The ability of the adaptive type-2 FLC in coping with large magnitudes of uncertainties yields an improved performance. The stability of the proposed control system is guaranteed using Lyapunov stability theory.
%K type-2 fuzzy control
%K uncertain systems
%K robot manipulators
%K flexible structures
%K adaptive control
%U http://www.mdpi.com/2218-6581/2/2/66